JP4793716B2 - Automatic tillage planting machine - Google Patents

Description

  In recent years, from the viewpoint of environmental protection, afforestation has been carried out in which seedlings are artificially planted in afforested areas. This afforestation work involves planting a large number of seedlings by repeatedly excavating a large number of planting holes in the plantation area, filling the planted hole with a seedling, refilling the planting hole, and then spreading and expanding. .

  When these operations are performed manually, the physical burden on the operator increases, so an automatic tillage planting machine that automates the operations from excavation to expansion pressure of the planting hole has been proposed (for example, (See Patent Document 1).

  The automatic tillage planting machine disclosed in Patent Document 1 has a guide tube that guides a seedling to a planting hole by air pressure output from an air conveyor, and is planted in a plantation at the tip of the guide tube. A hollow auger for drilling holes is provided.

  This hollow auger is an auger obtained by dividing an inverted conical peripheral wall around which screw blades are provided in two in the center line direction, and the semicircular upper edge central part of the peripheral wall of the two divided hollow augers is respectively It is swingably attached to the lower end of the seedling guide tube.

When seedling planting work is performed, the seedling guide tube is driven downward while rotating around its central axis. At this time, the hollow auger divided into two is in a closed state and moves downward while being integrated with the seedling guide tube, so that the ground of the plantation is excavated by the auger and a planting hole is formed. . After cutting the planting hole, the hollow auger is driven in the opening direction to open the open end of the seedling guide tube, and the seedling is fed into the planting hole by the air pressure output from the air conveyor. Then, after the seedling is sent, the planting hole is backfilled with the spreading pressure plate, and the pressure is spread.
JP-A-9-2011136 (FIG. 6 etc.)

  By the way, when weeds larger than this seedling grow around the planted seedling, sunlight may be blocked by the weed, which may hinder the growth of the seedling. For this reason, when planting with the automatic tillage planting machine described in Patent Document 1, it is necessary to mow the weeds in the planted area in advance to prepare an environment where the seedlings are easily exposed to sunlight.

  However, since this automatic seedling planting device does not incorporate a function of eliminating weeds, it is necessary to perform a tilling operation to remove the weeds as a pre-operation for afforestation, which requires a great deal of labor.

  Therefore, an object of the present invention is to provide an automatic tilling and planting machine capable of continuously performing tilling work and afforestation work before afforestation work.

  In order to solve the above-mentioned problem, an automatic tilling and planting machine used by being attached to an arm part of a self-propelled mobile device according to the present invention, wherein the fixed frame part fixed to the arm part, and the fixing An auger part rotatably provided with an auger with a pair of cutter bars that excavates a planting hole that can be raised and lowered relative to the frame part, and can be raised and lowered independently of the auger part with respect to the fixed frame, and opens and closes at the lower end opening And a planting tube for putting seedlings into the planting hole having possible opening and closing means.

  Here, the first drive means for raising and lowering the auger part, the second drive means for rotating the pair of augers with cutter bars, the third drive means for raising and lowering the planting tube, and the opening and closing means, An auger standby unit provided with a fourth driving unit for driving and a control unit for controlling the driving of the first, second, third, and fourth driving units, and preventing the control unit from interfering with a planting tube; The first operation of excavating to the excavation position under the afforestation basement, and the excavation to the excavation position, and then rotating the auger unit to the auger standby position A second operation of stopping the auger while the auger unit is stopped at the auger standby position by the second operation. A third operation of lowering the planting tube waiting at the planting tube standby position to avoid interference with the auger section to the seedling input position in the excavated soil, and the plan at the seedling input position A fourth operation for forming a planting space in the excavated soil by driving the opening / closing means in the opening direction in a state where the ting tube is located, and the planting space formed by the fourth operation In addition, after the seedling is put in, a fifth operation for raising the planting tube to the planting tube standby position, and after the fifth operation is finished, the auger part is lowered, and the cutter bar is The first, second, third, and fourth driving means may be controlled so as to perform the sixth operation of spreading by pressing against the excavated soil.

  The planting tube may be disposed between the pair of augers with cutter bars.

The auger portion may be provided with a box that accommodates the second driving means, and a retraction shape portion that is retracted with respect to the planting tube may be formed in the box. Further, in the second operation, when stopping the auger portion to the auger standby position, with said control unit, a cutter bar before Symbol one pair, connecting each axis of the pair of cutter bars auger The second driving means may be controlled so as to stop at an angle of approximately 45 degrees with respect to the straight line.

  According to the present invention, by lowering the auger with a pair of cutter bars while rotating, a planting hole can be formed and weeds around the planting hole can be eliminated, and the planting tube can be attached to the auger part. On the other hand, the seedling can be put into the planting hole by being lowered independently.

  The present invention will be described below with reference to embodiments shown in the drawings.

  The automatic tillage planting machine according to the present invention is used by being attached to the tip of a movable arm such as a backhoe (Yumbo) which is one of self-propelled civil engineering or construction equipment. By operating the arm, the automatic tillage planting machine is held in a vertical posture at a predetermined height above the seedling planting ground, and is operated by operating the backhoe from the driver's seat. The driving source of the automatic tillage planting machine of the present embodiment uses hydraulic pressure, and this hydraulic power source uses, for example, a hydraulic power source equipped on a backhoe.

  The schematic configuration of the automatic tillering machine according to the present embodiment is such that a fixed frame portion fixed to the tip of an arm member of a backhoe and a planting hole that can be moved up and down with respect to the fixed frame portion are formed in a shape of 8 in a plan view. An auger portion rotatably provided with a pair of augers to be excavated, and a planting tube that can be moved up and down independently of the auger portion with respect to the fixed frame and for introducing a seedling into the planting hole .

  A pair of augers are arranged on the left and right sides of the planting tube arranged in the center, and both ends are bent upward at the lower end of the auger shaft extending in the vertical direction and twisted in opposite directions around the auger shaft. A cutter bar of substantially one letter formed in an airfoil is fixed. Each auger rotates in a direction opposite to each other, and rotates in a predetermined direction, so that a pair of cutter bars dig up the ground in a shape of approximately 8 in plan view and dig a planting hole. At that time, the excavation soil by the cutter bar remains in the soft hole in the planting hole, and the bottom end is sharpened and the closed planting tube is pierced, and the lower end in the closed state is expanded. The soil is planted and the planting space is secured.

  And if a seedling is sent into a planting tube, a seedling will be thrown into the planting space of this planting hole by gravity fall. After that, when the planting tube is pulled up, the excavated soil fills the area around the seedlings, but this alone cannot firmly plant the seedlings, so the pair of augers are lowered and the soil around the seedlings is spread by the cutter bar. ing.

  In this embodiment, by forming a planting hole in a shape of approximately 8 in plan view with a pair of augers, both sides of the planting part of the seedling are greatly excavated with a cutter bar. It cuts off and weed growth can be suppressed around the planted part of the seedling.

  Hereinafter, the detailed structure of the automatic tillage planting machine of this Embodiment is demonstrated based on FIGS.

  FIG. 1 shows an automatic tillage planting machine, (a) is a side view, (b) is a front view, (c) is a rear view, (d) is a view taken along arrow AA in (b), (e) Is a top perspective view. FIG. 2 is a top view showing the gear train with the top cover plate of the gear box shown in FIG. 1 removed. FIG. 3 shows a side view of the planting tube, (a) is a state where the tip opening is closed and pointed, (b) is a state where the tip opening is opened, and (c) is a state where the planting tube is lowered. The state which stabs in the planting hole is illustrated. FIG. 4 is a structural view of an automatic tillage planting machine, (a) is a side view, (b) is a top view, and (c) is an enlarged view of an encircled portion of (a). . FIG. 5 is a functional block diagram of the automatic tillage planting machine of the present embodiment, FIG. 6 is an operation explanatory diagram of the automatic tillage planting machine of the present embodiment, and FIG. 7 is an automatic tillage planting of the present embodiment. It is the flowchart which showed the operation control of an attachment machine, and the operation control shown in this flowchart is performed by the control circuit 30 shown in FIG. FIG. 8 is an axial arrangement view of the auger 11 when waiting at the standby position.

  In FIG. 1, the automatic tillage planting machine of the present embodiment includes a fixed frame portion F attached to an arm tip portion of a backhoe (not shown) and a gear box 16 guided in the up-and-down direction with respect to the fixed frame portion F. The auger portion O is provided, and a pair of left and right auger lift cylinder devices 14 that drive the auger portion O up and down with respect to the fixed frame portion F, and a pair of left and right auger lift cylinder devices 14 are passed between the cylinders 14a and 14a. And a mounting bracket 34 that suspends and supports the planting tube 12 (hereinafter abbreviated as “P tube”) fixed through the cylinder device 17 for raising and lowering the P tube. A pair of auger shafts 11b extending in the vertical direction from the gear box 16 are disposed on both sides of the P tube 12, and a cutter bar is fixed to the lower end of each auger shaft 11b.

  The fixed frame portion F has a structure in which a guide plate 15 extending in the vertical direction is attached to the back side of the upper mounting plate 33 extending in the horizontal direction, and each cylinder 14a of the auger elevating cylinder device 14 is fixed to the upper mounting plate 33. A gear box 16 is fixed to the lower end of the rod member 14 b of the pair of auger lifting cylinder devices 14.

  Therefore, when the pair of auger elevating cylinder devices 14 are driven to move the rod member 14b downward, the gear box 16 is lowered. At that time, since the mounting bracket 34 is fixed to the cylinder 14a of the auger elevating cylinder device 14, the P-tube 12 suspended and supported by the mounting bracket 34 does not descend.

  The auger portion O has a substantially single-character cutter bar 11b formed at the lower end of an auger shaft 11a extending in the vertical direction and having both ends bent upward and twisted in opposite directions about the auger shaft. The upper end of the auger shaft 11 a extends through the gear box 16 and extends from the upper surface of the gear box 16, and the auger shaft 11 a is rotatably supported by the gear box 16. An auger rotation motor 13 is fixed to the upper surface of the gear box 16, and an output shaft of the auger rotation motor 13 extends into the gear box 16. A transmission mechanism for transmitting the driving force of the auger rotation motor 13 to the auger shaft 11a is provided in the gear box 16.

  As shown in FIG. 2, the transmission mechanism includes an output gear 13a provided on the output shaft of the auger rotary motor 13, first transmission gears 13b and 13c meshing with the output gear 13a, and the first transmission gear. A second transmission gear 13d that meshes with 13b, an auger drive gear 13f provided on one auger shaft 11a that meshes with the second transmission gear 13d, and another auger shaft 11b that meshes with the first transmission gear 13c. And an auger drive gear 13e. In addition, the number of FIG. 2 has shown the number of teeth of each gear.

  As described above, the pair of augers rotate in opposite directions by changing the number of transmission gears for transmitting the driving force of the auger rotation motor 13 to the pair of augers according to each auger.

  A rotating plate 32 that rotates integrally with the auger 11 is fixed to the upper end portion of the auger 11, and a notch 32 a is formed at the edge of the rotating plate 32. At this position, an auger rotation sensor 21 and an auger stop sensor 22 are provided.

  The auger rotation sensor 21 has a light emitting element and a light receiving element, and light that is always emitted from the light emitting element and is incident on the rotating plate 32 is incident on a portion other than the notch 32a. The light received by and reflected by the notch 32a is not received by the light receiving element. The rotational speed of the auger 11 can be detected by counting the non-detection of light in the notch 32a.

  The auger stop sensor 22 has the same configuration as the auger rotation sensor 21 and can detect that the auger stop sensor 22 has stopped at the auger standby position by non-detection of light in the notch 32a.

  Here, as shown in FIG. 8, the auger standby position means that the cutter bar 11b fixed to the lower end of each rotary shaft 11a forms an angle of about 45 ° with respect to a line connecting the pair of auger rotary shafts 11a. Means the state.

  Further, the gear box 16 is provided with a guide groove 16b extending in the vertical direction, and a guide protrusion 15a provided on the guide plate 15 is engaged with the guide groove 16b.

  The auger elevating cylinder device 14 includes a cylinder 14 a and a rod member 14 b that can move forward and backward with respect to the cylinder 14 a, and the upper end of the cylinder 14 a is fixed to the frame 15 via an upper mounting plate 33. The lower end is fixed to the bracket 34, and the tip of the rod member 14 b is attached to the side surface of the gear box 16.

  Therefore, by driving the auger elevating cylinder device 14 and extending and shortening the rod member 14b with respect to the cylinder 14a in a fixed state, the gear box 16 and the auger 11 can be driven vertically. .

  The frame 15 is provided with an auger raising sensor 19 and an auger lowering sensor 20 for limiting the vertical driving range of the auger 11. When the switch piece of the auger raising (lowering) sensor 19 (20) rides on the convex portion 16b provided on the gear box 16 that moves in the vertical direction together with the auger 11, a driving stop signal indicating that the driving end has been reached is sent to each sensor 19. , 20 and the drive by the auger elevating cylinder device 14 is stopped.

  The P tube 12 suspended and supported by the bracket 34 via the P tube lifting / lowering cylinder device 17 extends in the lifting direction through the notch portion 16a of the gear box 16, and includes a pair of auger shafts 11a and a P tube. 12 are arranged in parallel in the auger axis orthogonal direction. In this way, the notch 16a is provided in the gear box 16, and the pair of auger shafts 11a and the P-tubes 12 are arranged in a straight line in the auger axis orthogonal direction, thereby forming a plant shape formed in a shape of 8 in plan view. A seedling discharged from the P tube 12 can be put in the center of the hole. Thereby, weed growth can be suppressed in the vicinity of the seedling planting part, and an environment in which the seedling can be easily grown can be maintained.

  The P-tube lifting / lowering cylinder device 17 includes a cylinder 17a and a rod member 17b that can move forward and backward with respect to the cylinder 17a. The upper portion of the cylinder 17a is as shown in FIG. 4B. The lower portion is fixed to a guide ring 12a (see FIG. 3) engaged with the outer peripheral surface of the P tube 12 so as to be movable in the vertical direction. As shown in FIG. 1, the guide ring 12a is provided with a guide arm portion 35. The guide arm portion 35 is engaged with the auger shaft 11a of the auger 11 so as to be movable in the vertical direction. Yes.

  The distal end portion of the rod member 17b is attached to a fixing ring 12b fixed to the P tube 12. According to the above-described configuration, by extending and shortening the rod member 17b, the P tube 12 can be raised and lowered while being guided by the guide ring 12a with respect to the cylinder 17a in a fixed state.

  Moreover, since the attitude | position of the guide ring 12a is stabilized by engaging the guide arm part 35 extended from this guide ring 12a with the auger shaft 11a, the P tube 12 can be reliably guided by the guide ring 12a.

  A hollow opening 12d having a semi-conical shape in which a cone is divided into two is formed at the distal end of the P tube 12, and a hollow having substantially the same shape as the hollow opening 12d is formed with respect to the hollow opening 12d. By opening and closing the opening / closing part 27, the open / closed state of the hollow opening 12d can be switched.

  The tube opening / closing mechanism 18 that opens and closes the hollow opening / closing portion 27 is rotatable in a cylinder rotating shaft 121c provided at the tip of a fixing ring 12c extending radially outward of the P tube 12 fixed to the P tube 12. There is an open / close cylinder 18a that is supported in a suspended manner, a rod member 18b that can be moved forward and backward with respect to the open / close cylinder 18a, and an arm member 18c that is rotatably attached to the tip of the rod member 18b. The arm member 18c is rotatably supported by an arm member rotating shaft 12e provided on the P tube 12, and a hollow opening / closing portion 27 is fixed to a distal end portion of the arm member 18c.

  As shown in FIG. 3A, when the rod member 18b is in a shortened state with respect to the opening / closing cylinder 18a, the opening / closing cylinder 18a extends in the vertical direction, and the arm member 18c extends to the upper right with respect to the horizontal direction. The hollow opening / closing part 27 is in a state of closing the hollow opening 12d.

  When the rod member 18b is extended in the state shown in FIG. 3A, the open / close cylinder 18a is slightly rotated in the counterclockwise direction with the cylinder rotation shaft 121c as the rotation axis, as shown in FIG. 3B. The arm member 18c that is rotated and tilted obliquely upward to the right rotates clockwise about the arm member rotation shaft 12e as a rotation axis to a position where the arm member 18c is in a horizontal posture. As a result, the hollow opening / closing portion 27 is opened. Driven to open.

  The fixing ring 12b fixed to the P tube 12 is provided with a photoelectric switch type tube penetrating sensor 23. The tube penetrating sensor 23 has a predetermined amount of the P tube 12 located at the standby position in the excavated soil. It is turned on when it descends to the position where the seedling has entered, and when this tube penetration sensor 23 is turned on, the driving of the cylinder device 17 for raising and lowering the P tube is stopped and the tube opening / closing mechanism 18 is configured. The rod member 18b to be driven is driven in the extending direction, and the hollow opening / closing part 27 is opened.

  Further, a tube opening / closing sensor 25 and a seedling passage sensor 26 are attached to the fixing ring 12b. The tube opening / closing sensor 25 detects the open / closed state of the hollow opening / closing portion 27, and the seedling passage sensor 26 detects the P tube 12. It is possible to detect that the seedlings fed from the rear end opening are discharged from the hollow opening 12d.

  Further, the guide ring 12a is provided with a limit switch type P-tube raising sensor 24. The P-tube raising sensor 24 raises the P-tube 12 that has completed the seedling feeding at the seedling feeding position to the tube standby position. It comes to turn on. When the P tube raising sensor 24 is turned on, the driving of the P tube 12 by the cylinder device 17 for raising and lowering the P tube is stopped, and the P tube 12 is stopped at the tube standby position.

  Next, with reference to FIG. 5, FIG. 6, FIG. 7 and FIG. 8, the operation of the automatic tillage planter of the present embodiment will be described.

  First, in the initial state, the auger elevating cylinder device 14 and the P-tube elevating cylinder device 17 are in a shortened state, and the auger 11 and the P-tube 12 are respectively waiting at an auger standby position and a tube standby position above the plantation. (See FIG. 6A).

  Here, the auger standby position is a state in which the pair of cutter bars 11b provided on the auger shaft 11a forms an angle of 45 ° with respect to the dotted line 101 connecting the pair of auger shafts 11a, as shown in FIG. Means. Further, the P tube 12 waiting at the tube standby position is positioned above the pair of cutter bars 11b, and the tip opening 12d of the P tube 12 is set in an open state.

  When the power is turned on (step S101), when the auger 11 and the P tube 12 are positioned below the standby positions (step S102), the auger lifting cylinder device 14 and the P tube lifting cylinder device 17 are provided. Is driven in the shortening direction to return to each standby position (step S103).

  When the auger 11 is waiting at the auger standby position and the automatic tiller planting machine drive switch for instructing the tiller and planting operation to the automatic tiller planter is turned on, the driving force of the auger rotation motor 13 is transmitted to the transmission gear 13b. To 13e, each auger 11 rotates in a direction opposite to each other, and starts rotating in a predetermined direction. At this time, by driving the rod member 14b of the auger elevating cylinder device 14 downward, the gear box 16 and the auger 11 are integrally lowered with the auger shaft 11a guided by the guide arm portion 35. (Step S104).

  Then, when the pair of augers 11 reach the ground of the plantation, as shown by a dotted line in FIG. 2, an 8-shaped planting hole in plan view is formed by the excavation action of the cutter bar 11 b that descends while rotating. At the same time, the weeds that grow around the planted part of the seedling are cut up and cut off (see FIG. 6B). In addition, in the state where the weeds were cut off, the excavated soil remains soft in the planting hole.

  When the auger 11 is lowered by a predetermined amount while forming a planting hole and a signal indicating that the lower drive end has been reached is output from the auger lowering sensor 20 (step S105), the rod member 14b of the auger lifting cylinder device 14 is output. Is driven in the shortening direction to retract the auger 11 located in the planting hole upward (see FIG. 6C, step S106). Note that the auger rotation motor 13 is kept driven during this retraction operation, and therefore the auger 11 is retreated upward while rotating.

  When the auger lift sensor 19 detects that the auger 11 retracted from the planting hole has risen to a height corresponding to the auger standby position (step S107), the drive of the auger lifting cylinder device 14 and the auger rotation motor 13 is stopped. (Step S108). In addition, after stopping the auger rotation motor 13, the auger 11 continues rotation operation by an inertia force. Therefore, in order to stop the auger 11 at the auger standby position shown in FIG. 8, the stop timing of the auger rotation motor 13 is controlled in consideration of the rotation amount due to the inertial force after the auger rotation motor 13 stops.

  When the auger stop sensor 22 detects that the auger 11 has stopped at the auger standby position (step S109), the rod member 18b of the tube opening / closing mechanism 18 is driven in the shortening direction to close the hollow opening / closing portion 27. Drive in the direction (step S110).

  When the hollow opening / closing part 27 is driven in the closing direction, and it is determined by the output signal from the tube opening / closing sensor 25 that the hollow opening 12d of the P tube 12 is in the closed state (step S111, see FIG. 6 (d)). Then, the cylinder device 17 for raising and lowering the P tube is driven to lower the P tube 12 waiting at the tube standby position (step S112, see FIG. 6E). At this time, as shown in FIG. 8, each cutter bar 11b provided at the lower end of the auger 11 is stopped at an auger standby position, that is, at an angle of 45 ° with respect to the dotted line 101. By driving the cylinder device 17 for raising / lowering the P tube in this state, the P tube 12 can be lowered without causing interference with the pair of cutter bars 11b.

  In this way, when the hollow opening 12d is closed to the excavated soil that remains soft in the planting hole, and a predetermined amount of the P-tube 12 is pierced, it reaches the seedling input position from the tube penetration sensor 23. A signal indicating this is output (step S113), and the lowering operation of the P tube 12 by the P tube lifting cylinder device 17 is stopped. When the open / close cylinder 18a is driven in the extending direction while the P-tube 12 is stopped from descending, the excavated soil is pushed out by the hollow open / close unit 27 driven in the opening direction in response to the opening / closing cylinder 18a. Space is secured (step S114).

  When a signal indicating that the hollow opening 12d is set in the open state is output from the tube opening / closing sensor 25 (step S115), a seedling is sent from the rear end opening of the P tube 12 by compressed air. Then, it is thrown into the planting space that is pushed out by the hollow opening / closing part 27 due to gravity drop (see step S116, FIG. 6 (g)).

  When the seedling passage sensor 26 detects that the seedling has been discharged into the planting space through the P tube 12 (step S117), the P tube lifting / lowering cylinder device 17 is driven in the shortening direction to be positioned in the planting space. The P tube 12 to be retracted is moved upward (see step S118, FIG. 6 (h)).

  When the tube raising sensor 24 detects that the P-tube 12 retracted upward has risen to the tube standby position (step S119), the auger elevating cylinder device 14 is driven in the extending direction and waits at the auger standby position. The pair of augers 11 are lowered without rotating around the auger shaft 11a (step S120).

  When the auger 11 descends, the pair of cutter bars 11b are pressed against the excavated soil that remains soft in the planting hole and is expanded (see FIG. 6 (i)). When it is detected that the auger 11 has reached the lower drive end (step S121), the rod member 14b of the auger elevating cylinder device 14 is driven in the shortening direction to raise the auger 11 (step S122) and wait for the auger. Stop at the position (step S123).

  Thus, according to the automatic tillage planting machine of the present embodiment, the weeds around the seedlings can be uprooted and removed by simply lowering the auger 11 while forming the planting hole. As a result, the work load is reduced, and weed removal and seedling planting work can be continuously performed with less labor.

Overall configuration of automatic planting machine Cross section of gearbox P-tube operation explanatory diagram Sensor layout Functional block diagram of automatic tillage planting machine Operation explanation of automatic tillage planting machine Operation explanation of automatic tillage planting machine Flow chart showing operation control of automatic tillage planting machine Flow chart showing operation control of automatic tillage planting machine Arrangement of the auger when driving the P tube downward

Explanation of symbols

11 Ogre
12 P tube
13 Auger drive motor
14 Auger lifting cylinder
15 frames
16 Gearbox
17 Tube drive cylinder
18 Tube opening / closing mechanism
19 Auger sensor
20 Auger descent sensor
21 Auger rotation sensor
22 Auger stop sensor
23 Tube penetration sensor
24 Tube rise sensor
25 Tube open / close sensor
26 Seedling passage sensor
30 Control circuit
32 Rotating plate
33 Upper mounting plate
34 Bracket
35 Guide arm

Claims (5)

An automatic tilling and planting machine used attached to the arm of a self-propelled mobile device,
A fixed frame portion fixed to the arm portion;
An auger part rotatably provided with a pair of augers with cutter bars that excavate a planting hole that can be raised and lowered relative to the fixed frame part;
A self-cultivation system comprising: a planting tube for feeding a seedling into the planting hole that can be moved up and down independently of the auger portion with respect to the fixed frame and has an opening and closing means that can be opened and closed at a lower end opening portion. Planting machine. A first driving means for raising and lowering the auger section; a second driving means for rotating the pair of augers with cutter bars; a third driving means for raising and lowering the planting tube; and driving the opening and closing means. A fourth driving means; and a control means for controlling the driving of the first, second, third and fourth driving means,
The control means is configured to move the auger portion positioned at an auger standby position that avoids interference with a planting tube while moving downward and excavate to a excavation position under afforestation,
After excavating to the excavation position, the auger portion is raised to rotate while rotating to the auger standby position, to stop,
In a state where the auger unit is stopped at the auger standby position by the second operation, the standby is performed at the planting tube standby position to avoid interference with the auger unit positioned above the auger standby position. A third action of lowering the planting tube to a seedling input position during excavation;
In a state where the planting tube is located at the seedling charging position, the opening / closing means is driven in an opening direction to form a planting space in the excavated soil,
A fifth operation of raising the planting tube to the planting tube standby position after a seedling is put into the planting space formed by the fourth operation;
After the fifth operation is completed, the auger portion is lowered, and the cutter bar is pressed against the excavated soil, so that the sixth operation for spreading is performed. The automatic tillering machine according to claim 1, wherein the third and fourth driving means are controlled.   3. The automatic tillage planting machine according to claim 1, wherein the planting tube is disposed between the pair of augers with cutter bars.   The said auger part has a box which accommodates said 2nd drive means, The said shape is provided with the retraction | saving shape part retracted | retracted with respect to the said planting tube. 3. Automatic tillage planting machine according to 3. In the second operation, when the auger unit is stopped at the auger standby position,
Wherein, the cutter bar before Symbol one pair, relative to a straight line connecting the axes of the pair of cutter bars with auger, to stop at an angle of about 45 degrees, controlling the second driving means The automatic tilling and planting machine according to claim 2 , wherein:

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